#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "sensor_msgs/LaserScan.h"
#include "nav_msgs/Odometry.h"
#include "tf/tf.h"
#include <tf/transform_listener.h>
#include <fstream>

Include dependency graph for free_space_navigation.cpp:

Defines
#define	ANGULAR_VELOCITY_MINIMUM_THRESHOLD 0.4
#define	LINEAR_VELOCITY_MINIMUM_THRESHOLD 0.2
Functions
double	calculateYaw (double x1, double y1, double x2, double y2)
double	degree2radian (double degreeAngle)
int	main (int argc, char **argv)
void	move_v1 (double speed, double distance, bool isForward)
void	move_v2 (double speed, double distance, bool isForward)
void	move_v3 (double speed, double distance, bool isForward)
void	moveSquare (double sideLength)
void	poseCallback (const nav_msgs::Odometry::ConstPtr &pose_message)
double	radian2degree (double radianAngle)
double	rotate (double ang_vel, double angle_radian, bool isClockwise)
Variables
ros::Subscriber	pose_subscriber
ros::Subscriber	scanSubscriber
nav_msgs::Odometry	turtlebot_odom_pose
ros::Publisher	velocityPublisher

Define Documentation

#define ANGULAR_VELOCITY_MINIMUM_THRESHOLD 0.4

Definition at line 35 of file free_space_navigation.cpp.

#define LINEAR_VELOCITY_MINIMUM_THRESHOLD 0.2

Definition at line 34 of file free_space_navigation.cpp.

Function Documentation

double calculateYaw	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Definition at line 438 of file free_space_navigation.cpp.

double degree2radian ( double degreeAngle )

Definition at line 454 of file free_space_navigation.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 62 of file free_space_navigation.cpp.

void move_v1	(	double	speed,
		double	distance,
		bool	isForward
	)

a function that makes the robot move straight

Parameters:

speed,:	represents the speed of the robot the robot
distance,:	represents the distance to move by the robot
isForward,:	if true, the robot moves forward,otherwise, it moves backward

Method 1: using tf and Calculate the distance between the two transformations

Definition at line 129 of file free_space_navigation.cpp.

void move_v2	(	double	speed,
		double	distance,
		bool	isForward
	)

a function that makes the robot move straight

Parameters:

speed,:	represents the speed of the robot the robot
distance,:	represents the distance to move by the robot
isForward,:	if true, the robot moves forward,otherwise, it moves backward

Method 2: using tf and we calculate the relative transform, then we determine its length

Definition at line 228 of file free_space_navigation.cpp.

void move_v3	(	double	speed,
		double	distance,
		bool	isForward
	)

a function that makes the robot move straight

Parameters:

speed,:	represents the speed of the robot the robot
distance,:	represents the distance to move by the robot
isForward,:	if true, the robot moves forward,otherwise, it moves backward

Method 3: we use coordinates of the robot to estimate the distance

Definition at line 317 of file free_space_navigation.cpp.

void moveSquare ( double sideLength )

Definition at line 113 of file free_space_navigation.cpp.

void poseCallback ( const nav_msgs::Odometry::ConstPtr & pose_message )

Definition at line 102 of file free_space_navigation.cpp.

double radian2degree ( double radianAngle )

Definition at line 448 of file free_space_navigation.cpp.